Near-hover control of a helicopter with a hanging load

Piloting a helicopter with a hanging load is a difficult task, especially when the mass of the load is a significant fraction of the mass of the vehicle and there are gusty winds. An autopilot logic is proposed here for controlling the helicopter in this configuration and for precision hover. It is proposed that the vehicle position be measured using a lightweight cable from the helicopter to a point on the ground near the desired hover point. Simulation with one version of S-61 Sikorsky helicopter shows satisfactory controller performance under both design conditions and for parameter changes from one mission to another. Assuming noise-free measurements for feedback is found to be far too optimistic in predicting performance, the sensor/estimator design is a key element in the controller.